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Journal: Symmetry, 2023
Volume: 15
Number: 2011

Article: A Minimal Parameterization of Rigid Body Displacement and Motion Using a Higher-Order Cayley Map by Dual Quaternions
Authors: by Daniel Condurache and IonuÈ› Popa
Link: https://www.mdpi.com/2073-8994/15/11/2011

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